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MNET-M101-DUM User`s Manual

1. CN1 5V a SW3 SPULS Line receiver MA26LS32 AM26LS31 or lo 2 PULSP j or equivalent equivalent bes F from 690033 N IE xe ED _ Line receiver MA26LS32 EE or les 3 DIRP or eguivalent Les from s bea zm LDGND Switch SW3 setting SEMGSPULS SDR ON as 7 HA Ee FG T HERE BE 11 1 3 Connecting to photocouplers that guarantee differential input Some drivers guarantee operation from an input signal even though they are using photocoupler inputs In this case connect the positive phase and negative phase outputs of the command pulses Also make sure to set switch SW3 SPULS and SDIR to OFF MNET MIO1 DUM CN 5V A SW3 SPULS equivalent ig l F from 69003 gt QE Cn Y K ee vs LK Lome i from 69003 gt G h NO DGND Switch SW3 setting SEMGSPULS SDR ON IA i Q 40 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 11 1 4 Connecting to TTL chips When you need to connect to a driver with TTL inputs connect the reverse command pulse output from this board And be sure to connect the GND If you use this connection you do not need to set switch SW3 MNE T M101 DU
2. 11 7 Mechanical system input 3 EMG EMG MNET M101 DUM TLP280 or CN equivalent 4 7K 11 8 Mechanical system output BUSY CMP1 to 3 OUT1 to 2 AA MNE T M101 DUM aW TLP280 or EF 20k E COMB AV K TD62081AF or equivalent D from 9003 BUSY CMP1 3 0UT1 3 L Be Fuse d dE COMB 25A CNS E Ly Oo A JP4 GND OO A 8 44 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 12 Serial communication cable This system is designed to be connected with LAN cables that guarantee enhanced quality for high speed communication and are suitable for 100BASE and 1000BASE These are standard cables easy to find and cheap Therefore we do not include these cables with our products To select cables you need to connect make sure they meet the following specifications Wiring standard TIA EIA 568 B Category 5 CAT5 Enhanced category 5 CAT5e Category 6 CAT6 UTP Unshielded Twisted Pair cables or STP Shielded Twisted Pair cables that meet the specifications above The higher the standard the cables meet the more the communication quality will be improved To use the board in an area with excessive electrical noise use shielded cables STP Observe the following when conne
3. General purpose output 2 OUT2 General purpose input 1 IN1 General purpose input 2 IN2 General purpose input MPIN Input goes ON Servo ready complete SVRDY Input goes OFF Input goes ON Input goes OFF General purpose input IN3 48 Motionnet E Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 15 External dimensions The external dimensions of this board are shown below DIN rails are not supplied with this board pensis MNET M101 DUM 9 E ry SESE UII e S x um o T BSS gt GEEH WO E ams Ge SFE 2 ei SIN ODDDDDD Unit mm 49 Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 The descriptions in this manual may be changed without prior notice to CAUTION improve performance or quality NPM Nippon Pulse Motor Co Ltd Tokyo business site 6 1 Sakaecho Tachikawa City Tokyo 190 0003 Japan TEL 81 42 534 7701 FAX 81 42 534 0017 Osaka sales office 1 2 1 2504 Benten Minato Ward Osaka city 552 0007 TEL 81 6 6576 8330 FAX 81 6 6576 8335 E mai
4. Connections to electrically noisy devices Interference from excessively noisy devices or from power surges on the power and I O circuits may cause the board to malfunction To connect to a device that may generate electrical noise we recommend taking countermeasures such as attaching a protective circuit to the input output circuits However it is best not to share the same power supply with noise generating sources 4 Warranty period and coverage Warranty period 12 months after being shipped from our factory Warranty coverage During the warranty period we will repair without charge any problems on the board that occurred while it was being used appropriately and where the cause of the problem is due to us However the following cases will be not be covered by the warranty even if the warranty period has not expired Problems caused by inappropriate handling or use Problems caused by using parts not made or approved by us Problems caused by modifications made to the board that were not authorized by NPM Problems caused by disasters accidents or fires We warranty only the product as delivered and we do not accept responsibility for any loss caused by a fault in our product We will repair the board when it is sent to our plant by the user Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 5 Specifications Functions of this board can be classified as serial commu
5. H level output current lou 20 mA max Llevel output current loj 20 mA max H level output voltage 2 5V min Vcc 4 75 V lon 20 mA L level output voltage 0 5V max Vcc 4 75 V loj 20 mA G9003 register settings environment register 1 RENV1 To set up a positive logic output PULSP and DIRP are LOW and PULSN and DIRN are HIGH set PMDO 2 in environment setting register 1 RENV1 as follows CW CCW method 2 pulse mode 100 Direction method common pulse mode 000 90 phase difference pulse mode 101 Positive phase output setting switch SW3 SPULS SDIR The positive outputs PULSP and DIRP can be changed to 5 V internal control power using a switch This switch is a 2 pole gang type Positive phase output SW3 SPULS SDIR OFF 5V internal control power SW3 SPULS SDIR ON SW3 SPULS CN1 5V EE AM26LS31C 24 or eguivalent aoto PULSP LOW From G9003 SW3 SDIR x y EE UE AM26LS31C EM gi9 3 DIRP LOW PULSN HIGH or equivalent O t L From G9003 DIRN HIGH e DGND T The descriptions in parentheses SEMG SPULS SDIRON are the output level when E setting the respective register as shown above When the switches are set as shown in the figure above Note Do not use DGND for connection other than differential outputs because it is for internal connection 18 Motionnet
6. 11 12 13 26 27 28 25 Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 8 7 Mechanical system input 1 PEL MEL Function PEL MEL PEL is a positive direction end limit input and MEL is a negative direction end limit input These signals are used to stop outputting command pulses in the specified direction This signal input is also branched off to the driver system output so that both the pulse output control of this board and the pulse output control on the driver side can receive this end limit signal simultaneously The input logic of this signal for this board can be changed using a switch PEL MEL input logic setting switch SW2 The input logic of PEL and MEL can be changed using switches SW2 4 EL The logic of the branched signal cannot be changed Precautions for using the end limit signals These signals are used for making emergency stops so we recommend that you use a sensor with a negative logic output mounted on your machine By setting the switch the logic of both PEL and MEL signals can be changed together Their logic cannot be set independently Set to ON The end limit signal goes off when the photocoupler goes on Set to OFF The end limit signal will go on when the photocoupler goes on SW2 gw GR HEN Input interface The input interface is a photocoupler TLP280 or equivalent The common positive terminal COMA and common negative termi
7. You may use this output for other purposes Output interface The input interface is a photocoupler input TLP280 or eguivalent The common positive terminal COMA and common negative terminal COMA input output terminals can be supplied from the same power supplied to the power connector CN5 by shorting jumpers JP1 and JP2 Output specifications Output dielectric strength 80 V Max Output current Ic 10 mA Typ LOW level output voltage Vce 0 4 V Max CN1 TLP280 or equivalent LAN ERC MPOUT1 MPOUT2 From G9003 5 COMA 23 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 Setting the G9003 register environment setting register 1 2 RENV1 2 ERC Set the output logic To turn on the output transistor with a 1 set the ERCL bit in environment setting register 1 RENV1 to O for negative logic Set the output time By setting the EPWO to 2 bits in environment setting register 1 RENV1 you can set an output time 12 us to 104 ms You can also set a level output MPOUT1 Set up an output Set the POM bit in environment setting register 2 RENV2 to 1 to create a general purpose output By setting POM to 1 the output transistor will turn on Active HIGH positive logic MPOUT2 Set up an output Set the P1M bit in environment setting register 2 RENV2 to 1 to create a gen
8. Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 14 Setting registers Shown below is a list of items in the G9003 registers that are preset on this board 14 1 Environment setting 1 RENV1 Bit Bit name Description Setting 6 SDL SD signal logic 0 Negative logic 1 Positive logic 0 7 ORGL ORG signal logic 0 Negative logic 1 Positive logic 9 ALML ALM signal logic 0 Negative logic 1 Positive logic 15 ERCL ERC output logic 0 Negative logic 1 Positive logic 22 INPL INP signal logic 0 Negative logic 1 Positive logic 24 PCSL PCSL signal logic 0 Negative logic 1 Positive logic o o ojo e w Bit name Details Setting POM Setting the general purpose input output terminal function 0 Input 1 output P1M P2M P3M P4M P5M P6M P7M EZL zl OQ oO A VIN O olololo l l l Encoder Z phase signal logic 0 Rising edge 1 Falling edge N 14 3 Allocation of general purpose input output points and status 7 6 5 4 3 2 1 0 General purpose output 1 Output ON MPOUT1 Servo ON SVON Output OFF General purpose output 2 MPOUT1 Alarm reset ALMRES General purpose output 1 OUT1 Output goes ON Output goes OFF Output goes ON Output goes OFF Output goes ON Output goes OFF Input goes ON Input goes OFF Input goes ON Input goes OFF
9. in environment setting register 4 RENV4 However if others is selected as the comparison method C CO to 2 no signal will be output for the specified comparator When the output conditions are met the output transistor will go on Active HIGH positive logic OUT1 to 2 Enabling the output Set P2M or P3M in environment setting register 2 RENV2 to 1 for use as a general purpose output When set to 1 the output transistor will go on Active HIGH positive logic ETE Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 8 12 Serial communication RS485 RS485 Function These are the Motionnet serial signals Interface 1 Serial communication signals are isolated using a pulse transformer They are input and output through line transceivers SN65HVD1176D or equivalent that meet the RS 485 specifications The board handles the input and output of the positive phase of the line transceiver through the RS485 plus terminals and the reverse phase through the RS485 minus terminals 2 Termination resistance In order to prevent reflection of the serial communication line signals termination resistors must be present at the start and end points of the line On this board switch SW2 is allocated to enable disable the termination resistance By turning on this switch the termination resistance is enabled on the board Be sure to turn this switch on if the board is the
10. V Max TLP280 or equivalent 0 5 W 4 7 KQ SW3 SEMG y y To G9003 O SW4 OEMG TLP280 or pon CNI equivalent OEMG COMA CN5 o GND Matching the settings above F ET Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 Input logic After an emergency stop has been declared when the respective photocoupler goes on the board will release the emergency stop Emergency stop enable disable switch SW3 Use the SW3 SEMG switch to select whether to respond to or ignore an emergency stop signal from the outside ON Effective OFF Ineffective SEMG SPULS SDIR on Precaution about disabling emergency stops Use only if the whole mechanical system ensures the safety 32 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 8 11 Mechanical system output BSY CMP1 to 3 OUT1 to 2 Function BSY This signal will be on when the board is outputting command pulses CMP1 to 3 This signal will go on when the conditions set for one of the internal comparators 1 to 3 are met G9003 environment register 4 RENV4 For example by comparing comparator 1 to 3 with COUNTER1 to COUNTER3 software end limit signals or an index signal can be output OUTI to 2 These are general purpose outputs They are connected to P2 and P3 the general purpose UO terminals on the G9003 Output interf
11. board H 45 Motionnet Motionnet Local Motion Control Board MNET M101 DUM 13 Connector and switch layout YA7085 0 4 The layout of the connectors and switches is shown below Driver system I O connector CN1 Mechanical O connector CN2 I O display LED Power indicators LED 5V Serial communication connectors CN3 4 Serial communication SE HF NPM MNE T M101 0UM 1 settings EL logic 1 E setting SW2 Serial communication device number setting SW1 Power indicators LED RUN Communication status display ERR Power indicators LED 3 3 V 8 1 DE TD EL A7 eege ETT AS Ab A3 A2 AI AD oo oor setting SW4 Common selection connector JP1 to 4 Pulse output mode emergency stop setting SW3 Power connector CN5 Item Setting details Item Setting details Serial comm Assign a device number for Setting the Setting the transfer speed BO B1 device number serial communication serial Transfer speed assignment ON 1 OFF 0 communication 20 Mbps SW1 The example below is when EL logic 10 Mbps setting 13d decimal SW2 Set the pulse output mode emergency stop SW3 Default setting ALL off MR 123456 AAAAAA 543210 Command pulse PULS DIR positive phase output setting SPULS SDIR SP
12. communication cycle Cyclic communication time when 64 devices are connected Maximum 0 97 msec Data transfer speed 20 Mbps using our recommended 50m cable Number of devices supported Maximum 64 devices line Connection method Multi drop connections using LAN cables Serial communication types Three types of communication are available 1 System communication By polling the Motionnet line the number of local devices that are connected the device numbers device types and I O port allocation status can all be checked 2 Cyclic communication The system starts communication with the local device that has the lowest device number When the communication cycle reaches the device with the highest device number the system starts over again communicating with the device that has the lowest device number The process of communicating with all active devices from the lowest to the highest device is one cycle The system always repeats this communication cycle automatically The main status conditions such as the pulse output status are read and the general purpose UO data on the G9003 is also managed using cyclic communication 3 Data communication This communication type is used to handle data between a PCL device and CPU emulation device Write data into a FIFO in the center device and issue a send command This communication will be sent and received automatically by interrupting the cy
13. device can be operated from a remote CPU just like accessing memory It can be connected to a maximum of 64 local devices G9002 G9003 and G9004 G9002 IO device This is a local I O control device that can control 32 separate I O signals G9003 PCL device This is a local device containing a pulse control LSI that has been developed and polished by NMP for use in motion control over many years It also has a serial communication function It can control a single axis pulse input type stepper motor and servomotor G9004 CPU emulation device This is the most sophisticated local device in the Motionnet series and it can remotely control other LSIs that need a connection to a CPU for example a PCL6045B made by NPM By connecting a CPU to its local side it can also communicate messages between CPUs Remotel O If a Motionnet line is only used for input and output control it can send and receive signals for 2048 points on 64 local devices in 0 97 msec using a 20 Mbps data transfer speed If a smaller number of devices are connected the data transfer time will be proportionally shorter Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 RemoteMotion If a Motionnet line is only used to control motors it can control up to 64 axes With this type of control individual devices can control pulse input type stepper motors and servomotors They can execute continuous operations at constant sp
14. last one on the serial communication line RS 485 line transceiver Pulse transformer SN65HVD1760D or DP101 102F or equivalent equivalent AM A z 9 1 RS485 B 1 From G9003 lt gt E RS485 Seo 1200hm MEN RS485 RS485 1 FG 1 The connector frame is connected to the FG terminal on the power connector 8 13 Power 24V GND FG Function These terminals are used to supply control power for this board The 5 VDC and 3 3 VDC internal power supplies are generated by an isolated DC DC converter from the main power to the board 24VDC and Ground The internal power can be connected to the I O common circuits by shorting jumpers The frame ground FG on the board is connected to the frame on the serial communication connector Be sure to ground this line 35 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 9 Switch settings 9 1 Setting the device number for serial communication SW1 Assign a Motionnet device number for serial communications using switch SW1 Assign a device number 0 to 63 that is not already in use by another device on the same circuit You do not need to assign the numbers in order sequentially You can assign any number from 0 to 63 as long as it is not in use AO to A5 correspond to the numbers 1 2 4 8 16 and 32 The actual device number assigned will be the sum of these switch numbers that are turned on When deli
15. leues esses eee ENNEN nennen nn nnr nnn nnn 15 7 4 CNS power supply connector eieeseseeeseeeeeeeeees essen nennen nn nn anima na nnn n nn nnns anta sans ennnen na 15 7 5 Connectors Used D 16 8 Each signal and its function ueeeeseeeeeees eese seen ene sees nennen nnn anne nnn anie nnmnnn nnmnnn nnmnnn nnna 17 8 1 Command pulse outputs PULSP PULSN DIRP DIRN eeseeeeeeeeeeeeenne ener 17 8 2 Encoder input EAP EAN EBP EBN EZP EZN eeeeeiseiseesseeesee nenne NEEN nnn tnnt 19 8 3 Driver system inputs ALM INP MPIN eeeeeeenneennn nennen nnne nnn nnne nnnm 21 8 4 Driver system output 1 ERC MPOUT1 MPOUT2 e eeeeeeeeeeeeeeenee entren ennt nnnnnn 23 8 5 Driver system output 2 OPEL OMEL OEMQ e eeeeeeeeeneeeeeseeen nennen nnne nennt nnnnnn 24 8 6 Driver system I O power 5V PQ5 sseeeseeeeeeeeeeesees seen nn nnne LLY LLALL LL Ln nn nasi tasas nn snnm nnna 25 8 7 Mechanical system input 1 PEL MEL eeeeeeeeenneennn nnne nnne nnne nnn nnn 26 8 8 Mechanical system input 2 SD ORG PCS CLR STA STP IN1 to 3 ss 28 8 9 Mechanical system input 3 LTC LTC eeeeeeseeesesseeeeeeeeeeee nennen nennt nnn nnnm nnmnnn 30 8 10 Mec
16. maximum frequency Strong 1 3 m max Up to 500 Kpps A little weak 4 1 m max Up to 250 Kpps 11 1 1 Connecting to a photocoupler If you want to connect a motor driver with a photocoupler input the positive output from the command pulse terminal might not be strong enough to turn on the photocoupler Therefore connect the 5VDC control power and reverse output Also make sure to set switch SW3 SPULS and SDIR to ON MNE I M101 DUM Weak CNI 5V 4 SW3 SPULS AM26LS31 Ten 2 PUSP R or equivalent i lo 9 B fromG9000 7 7 PULSN Y Kk SW3 SDIR AM26LS31 PNE gore or equivalent Co 3 DIR C from ewm log ek DGND Switch SW3 setting SEMGSPULS SDR ON ZS FEE f FG EE Kc 39 Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 11 1 2 Connecting to a line receiver This board outputs signals to an AM26LS31 line driver or equivalent Make sure that your motor driver is an AM26LS32 line receiver or equivalent that can receive signals from this board s line driver In order to ensure differential voltage make sure to connect the GND Also make sure to set switch SW3 SPULS and SDIR to OFF MNE T M101 DUN
17. mode The logic of the output pulses also can be set Emergency stop signal input When this signal goes active the affected axis stops rotating immediately No axis can be operated as long as this signal is active Precautions This board cannot use the following signals from the G9003 Therefore you cannot use some of its functions such as a manual pulsar input Manual pulsar input PA PB Command pulse status output FUP FDW MVC Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 3 Precautions 3 1 Safety precautions When you use this board to control a stepper motor or a servomotor take the utmost care that no one can get within the zone in which moving components are being operated by the motor In addition provide an emergency stop mechanism to stop the motor operation instantly if a person is in danger 3 2 Handling precautions Inputting power Do not connect or disconnect connectors while this board or peripheral circuits are supplied with power Static electricity This board uses a CMOS device Therefore this board must be stored in a package in which it was shipped until you actually use it in order to prevent damage from static electricity Switch settings This board is equipped with switches to set details for serial communications and input output ports Be sure to shut off the power supply to the board before changing these switches
18. modular jack connector Electric Hirose TM11R 3C 88 or equivalent 8 pin modular jack connector Electric The spacing between the terminals on the connector terminal block is 3 81 mm This board does not come with any connectors Users are responsible for fabricating their own connection cables When choosing connectors we recommend the following items No Item name Mfg Model name Remarks 7930 6500SC 1 27 mm pitch flat cable crimp connector with a E 3448 7930 strain relief 7934 6500SC 1 27 mm pitch flat cable crimp connector with a O ere 3448 7934 strain relief mr n Board side XW4A 06B1 V1 or equivalent Wire side XW4B 06B1 H1 For Na Modular Hirase TM11P 88P Modular plug with a shield plug Electric For cN4 Modular Hirose TM11P 88P Modular plug with a shield plug Electric 16 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 8 Each signal and its function 8 1 Command pulse outputs PULSP PULSN DIRP DIRN These are command pulse signal outputs to a stepper motor driver and servomotor driver You can choose output method from the following three types ee Description Examples of command pulse outputs This is a method for outputting pulse signals as motor rotation direction signals CW or CW CCW CCW method With this system the PULS terminal outputs 2 pulse mode CW direction pulse signals and the DIR termi
19. regulator SW2 Quartz oscillator CN2 mechanical system output PEL MEL SD IO ORG interface PCS CLR STA STP P4 P5 P7 IN1 to 3 LTC LTC EMG EMG BSY BSY CP1 to 3 CMP1 to 3 P2 3 OUT1 2 COMB COMB DC DC converter CN5 5V 3 3V 4 aes FG Select common COMA COMA JP1 to 4 18 Motionnet Motionnet Local Motion Control Board MNET M101 DUM 7 Connector pin assignment 7 1 CN1 driver system I O connector Connect a pulse input stepper motor driver or a servomotor driver Signal name Function Signal direction Signal name Function YA7085 0 4 Signal direction PULSP Pulse signal output O PULSN Pulse signal output DIRP Direction signal output O DIRN Direction signal output EAP Encoder A phase input EAN Encoder A phase input EBP Encoder B phase input EBN Encoder B phase input EZP Encoder Z phase input EZN Encoder Z phase input DOS Power supply 5V for 1 0 POS Power supply 5V for 1 0 P05 Power supply 5V for 1 0 ERC Deflection counter clear output MPOUT1 General purpose output 1 MPOUT2 General purpose output 2 MPIN General purpose input ALM Alarm input INP Positioning completion input OPEL Positive side end limit output OMEL Negative side en
20. supplied for the driver system input output terminals The yellow LED will be lit Common selection 5 3 Others Item JP1 to 4 Signal name Set up the connections for the common in the driver system output circuit COMA the common for the mechanical input output circuit COMB and the input power on CN5 Set using jumpers Specifications Required power CN5 24V GND 24 VDC 10 110 mA Typ not connected to the common signal of input output circuit Power indicator 33V Displays the status of the 3 3 VDC internal control power supply using a red LED Operating temperature range 0 to 40 C Operating ambient humidit Vibration proof 80 RH or less Non condensing through the 10 C to 40 C range Complies with JIS C0040 Installation method Using DIN rails DIN rails are not supplied as an accessory Dimensions 12 W124 x D72 5 x H50 Unit mm YA7085 0 4 The current value above is correct when 24 VDC is supplied and is Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 6 Configuration A block diagram is shown below Motionnet PCL device G9003 RS 485 CN1 driver system input Pulse Line OUT UO CN3 transformer transceiver DIR interface SO EA EB EZ SOEH Sl O z E Device number setting switch Saul uoneoiunuiuioo ess SW1 Serial communication setting switch 3 terminal
21. 003 lt LTC G9003 register settings environment setting register 1 RENV1 Input settings To have the LTC input value latched on the rising edge when the respective photocoupler goes on set LTCL in environment register 1 RENV1 to 1 To have the LTC input value latched on the falling edge when the respective photocoupler goes on set LTCL in environment register 1 RENV1 to 0 30 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 8 10 Mechanical system input 4 EMG EMG Function These are emergency stop inputs When any of these signals is received while operating the board will immediately stop outputting command pulses This signal input is also branched to the driver system output so that an emergency stop signal can be supplied to both the pulse output control of this board and to a motor driver The emergency input to this board can be disabled using a switch Input interface The input interface for these signals is a standard photocoupler input TLP280 or equivalent The output branch to the driver system can be changed to use a common negative side COMA with a switch SW4 OEMG EMG EMG input specification Input current 4 5 mA Typ When 24VDC is supplied Response time 55 usec Typ OEMG output specification Output dielectric strength 80 V Max Output current Ic 10 mA Typ LOW level output voltage Vce 0 4
22. Driver system input ALM INP MPIN MET M101 DUM TLP280 or CN1 NS equivalent 4 7K COMA id AX AL MIND HEIN 220K TI CO A C2 Y j CNS JDL Ay O OT O JP2 GND OO 11 4 Driver system output ERC MPOUT1 MPOUT2 OPEL OMEL OEMG External output voltage is 80 V max MNET M101 DUM TLP280 or equivalent ERCMPOUT1MPOUTZ OPEL OMEL OEMG from G9003 11 5 Mechanical system input 1 PEL MEL SD ORG PCS CLR STA STP IN1 to 3 A MNET M101 DUM equivalent 4 7K j to G9003 4 O LU x lt H H Yy PEL MEL top a lt I CLRSTASTP NI 3 Wed o5 O B lo al 220K COMB 24V ETE ip Xe AAA CN5 JP3 24V OO JP4 GND OO s _ 43 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 11 6 Mechanical system input 2 LTC LTC NE T M101 DUM AN ev equivalent 7 4 7K LTC NE gt to G9003 x lt Y A i0001F lt lt LTC QUT 2 o 64 220K T 24N T E
23. G signal Then reverse and stop after counting up the preset number of EZ signals Feed at high speed memorize the position when the ORG signal goes on decelerate and stop Then back up to the position stored in memory 10 Feed at high speed After the ORG signal goes on and the preset number of EZ signals has been counted memorize the position decelerate and stop Then back up to the memorized position 11 Feed at high speed decelerate on receiving an EL signal and stop Then reverse and stop after counting up the preset number of EZ signals Mechanical system input signals The following four signals can be input 1 2 3 4 PEL EL When this signal goes on while the motor is rotating in the positive direction the motor will stop immediately or will decelerate and stop The motor cannot rotate in the positive direction while this signal is on however it can rotate in the negative direction MEL EL When this signal goes on while the motor is rotating in the negative direction it will stop immediately or will decelerate and stop according to the method of speed control SD This signal can be used as a deceleration signal or as a deceleration and stop signal depending on the program settings When this is set to be used as a deceleration signal and this signal goes on while in high speed operation the motor will decelerate to FL speed Also if this signal is already on when starting t
24. M CN AM26LS31 or eis 2 PULSP equivalent Es eer LL AA from a003 3 OPUN a MES 4 c g SW3 SDR AM26LS310r sl 3 DRP equivalent mo N R from vom 3 DIR 4 DGND Switch SW3 setting T 7 SEMGSPULS SOR ON oW Ka o x o FG uuuwu Jee g ez s ep Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 11 2 Encoder input EAP EAN EBP EBN EZP EZN 11 2 1 Connecting to a line driver If a motor you are connecting to has an AM26LS31 or equivalent line driver output its output can be connected directly to this board MNET M101 DUN PC410 or equivalent 100 EAP Saye 2 AM26LS31 or equivalent 4 7K 100 PC410 or eauivalent 11 2 2 Connection with open collector When the motor driver is an open collector output current limiting resistors will be needed Their size depends on the external power supply voltage External power supply voltage V Recommended limiting resistor R 5V 1 4 W 100 ohm 12V 1 4 W 1 K ohm 24V 1 2 W 2 2 K ohm MNET M101 DUM CN1 PC410 or equivalent R V 100 EAP e om e e KH O y 47K 100 PC410 or equivalent 47K 100 PC410 or equivalent 42 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 11 3
25. Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 8 2 Encoder input EAP EAN EBP EBN EZP EZN Function EAP EAN EBP EBN These are A and B phase inputs for reading encoders They are connected to the A and B phase pulse outputs from an encoder mounted on a servomotor axis or on a mechanical axis The board reads the mechanical position data from the feedback signals 90 phase difference signals from a servo driver or mechanical system encoder and puts them into the internal counter These inputs can also count pulses EZP EZN These are Z phase inputs for signals from an encoder They are connected to the Z phase pulse outputs from the encoder or to an excitation phase zero position output from a stepper motor driver These inputs are used to determine the zero position in a zero return operation Input interface Encoder inputs are high speed photocouplers PC410 or eguivalent They can be connected to line driver outputs AM26LS32AC or eguivalent open collector outputs or photocoupler outputs Line driver outputs can be connected to these external terminals without limiting resistors Input specifications EAP EAN EBP EBN Response frequency 3 5 MHz Max When IF 7 5 mA with a 90 phase difference input and no input filter CN1 PC410 or 0 1 W 100ohm eguivalent 5 7 cy EAP EBP To G9003 EAN EBN EZP EZN Response frequency 5 psec Min When IF 7 5 mA a
26. T M101 DUM YA7085 0 4 Specifications Driver system outputs ERC MPOUT1 MPOUT2 3 terminals are available as follows Deflection counter clear output ERC General purpose output 1 MPOUT1 General purpose output 2 MPOUT2 Connect general purpose output 1 and 2 to PO and P1 on the general purpose I O terminals on the G9003 When the device is connected to a motor driver it is mainly used as a servo on output SVON or alarm reset output ALMRES Mechanical input branch output signal Positive end limit output OPEL Positive end limit output OMEL Emergency stop output OEMG Can be changed to COMA using a switch I F Photocoupler output TLP280 or equivalent Mechanical inputs 13 terminals are available as follows Positive end limit input PEL Negative end limit input MEL Slowdown input SD Zero position input ORG Positioning start input PCS Counter clear input CLR Simultaneous start input STA Simultaneous stop input STP Counter latch input LTC Emergency stop input EMGI General purpose inputs 1 to 3 IN1 to 3 The emergency stop input can be enabled disabled using the EL switch of SW2 The end limit inputs and emergency stop input can be branched to the driver system output using a switch Connect general purpose inputs 1 to 3 to the general purpose I O P4 P5 and P7 terminals on the G9003 I F Photoco
27. ULS SDIR Setting Positive phase output OFF 5 V internal control power Enable disable emergency stop SEMG Setting Disable Enable Default setting All on SEMG SPULS SDIR ON SW3 WH Tas m 46 5 Mbps 2 5 Mbps Set the output status to use when a communication error occurs TD Maintain the current output status Turn off the output transistor reset status PEL MEL input logic setting switch EL Logic The end limit signal will go on when the respective photocoupler turns on The end limit signal goes off when the respective photocoupler turns on Request a break frame BK ON Request a break frame Apply a termination resistance TR ON Apply a termination resistance Default ELZON Others OFF ON W 1234 BBTEBT 10 DLKR Motionnet Local Motion Control Board Item Setting details MNET M101 DUM Item Setting details YA7085 0 4 Enable a signal branch SW4 47 Branch the PEL MEL and EMG mechanical inputs to a driver system output OEMG OPEL Setting OMEL COMA OFF connection ON Signal branch Default setting All off OEMG OPEL OMEL ON Common selection connector JP1 to 4 Common JP Common COMA JP2 COMA COMB JP4 Default setting All open COMB E nnet
28. YA7085 0 4 Motionnet Remotel O amp RemoteMotion Local Motion Control Board MNET M101 DUM Instruction Manual DANUBE DET CWS 2405A3M T UP DC 18 36 SA PZ o LJ DZ Uli EE 1 OIP DC 5V 600mA LI 1020930 1 225039 Ir OuTe enc OuTe 3 23 NPM Nippon Pulse Motor Co Ltd Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 Table of Contents WM jnre ve oe rates i o O AD a uu Sd dud Ian 1 PAID 3 2 1 Serial communications eee eee eesaae se neeeeeeeeesaaesasaeeeeeees inna sinn n HALL nnmnnn nnmnnn nnmnnn nnen 3 2 2 Motion control cuero lee Ted eset ree eene IER EES 4 XE agerem P E 8 3 1 Safety Ee EE 8 3 2 Handling precautions eeeeeee seines eeeeen eene nnnn nnne nn nnne nnm an nnnm anas inner asset r sese tnr an nnns 8 4 Warranty period and coverage esses eeseeeeeen seen n nnnm nnne than inta sa sinn n HE nasa nasa sana sn Rusa 8 Ee EE 9 LEO ET een npn e 9 5 2 e eut E 10 LE Mo EE 12 6 Configuration RE 13 7 Connector pin assignment crude edes eie ee 14 7 1 CN1 driver system UO connector 4 9999944 rr eese ee eeneesee nenne nennen nnmnnn nnns nnn nnn NEEN 14 7 2 CND mechanical input output connector esseeeeseeeeeeeeeeee einen enter nnnn annnm rnn nnns 15 7 3 CN3 4 serial communication connector
29. ace 1 These outputs are isolated from the internal power using photocouplers and open collector outputs TD62801AF or equivalent 8 elements 2 2 5 A over current protection fuses are installed on emitter side of the transistors 3 The common positive terminal COMA and common negative terminal COMA input output terminals can be supplied from the same power supplied to the power connector CN5 by shorting jumpers JP3 and JP4 Output specifications Recommended actuation voltage 12 to 24 VDC Maximum output current when 8 circuits turn on at the same time 80 mA point Pulse length 25 msec Duty cycle 50 at 24 VDC 20 mA point Normally ON at 24 VDC Output saturation voltage Vce sat 0 9 V Typ Ic 100mA TLP280 or eauivalent 0 1 W 20 Kohm From G9003 TD62081AF or eguivalent 33 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 G9003 register setting Setting the operation mode register RMD BSY Set the output Set MPH in the operation mode register RMD to 0 to enable the BSY signal The output transistor will be on while outputting command pulses Active HIGH positive logic G9003 register setting Environment registers 2 4 RENV 2 4 CMP1 to 3 Set the comparison outputs These signals are output by setting a number of comparison counters C CO to 1 a comparison method C CO to 2 and conditions for processing C DO to 1
30. an ne LLY ee snnm nn sene nnmnnn nennen nnn 49 eg Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 1 Preface Thank you for purchasing our motion control board This is a local board for ultra high speed serial communication using the Motionnet protocol The MNET M101 DUM you have purchased is a motion control board that contains our Motionnet G9003 PCL It can control a single axis pulse input type stepper motor and a servomotor remotely from the center board using serial communication This board is controlled by serial communications from a center board equipped with a G9001A a Motionnet central controller Please use a center board equipped with a G9001A with this board Motionnet Motionnet is an ultra high speed serial communication system created by NPM Nippon Pulse Motor Using our four specially developed devices G9001A G9002 G9003 and G9004 as core chips this serial communication system is a complete system for reducing wiring while affording remote operation by emulating a CPU and handling CPU message communications at transfer speeds of 20 Mbps It offers all of the high speed features and serial I O control needed for complete motion control Device G9001A Center device This is a central controller that manages local devices It can be connected to any type of CPU This device has 256 bytes of RAM for I O control and 512 bytes for data communication This
31. c 0 INP Setting input logic To see a signal as a 1 while the corresponding photocoupler is on set the INPL environment setting register 1 RENV1 parameter to negative logic O MPIN Input setting Set the P6M bit in environment setting register 2 RENV2 to O for use as a general purpose input When the corresponding photocoupler is on this signal will be 1 Active high positive logic 22 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 8 4 Driver system output 1 ERC MPOUT1 MPOUT2 Function ERC This output is used to clear the deflection counter in the servo driver Output this signal during a zero return operation or in an emergency stop to stop the motor immediately Keeping this signal on will allow the motor to be controlled only by the speed control feedback and the motor will turn at low speed Therefore be careful when setting the output time for this signal MPOUT1 This is a general purpose output for the driver system This output is connected to the PO general purpose output terminal on the G9003 It is mainly used as a servo on signal SVON to excite the motor and make it ready for operation You may use this output for other purposes MPOUT2 This is a general purpose output for the driver system This output is connected to the P1 general purpose output terminal on the G9003 It is mainly used as an alarm reset signal ALMRES to release motor driver alarm
32. clic communication Data communication is also used to write operation commands and registers in the G9003 Communication error detection Errors can be detected by adding CRC numbers to the serial communication frames Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 2 2 Motion control Interrupt signal output An interrupt request can be sent to the center board by any of a variety of causes Acceleration deceleration control Both linear and S curve acceleration deceleration are available The S curve acceleration deceleration also allows use of linear acceleration deceleration parts Speed override The speed can be changed during any operation in all the modes Overriding the target position 1 The target position feed amount can be changed during positioning using the positioning mode function When a feed operation has already passed the new target position the motor will decelerate and stop stop immediately when performing a constant speed operation and start to feed in the opposite direction 2 Starting an operation in continuous mode the driver will output a number of preset pulses and then stop based on the timing of an external input signal Triangle drive avoidance FH correction function While in the positioning mode if there are only a few output pulses the board will automatically lower the maximum speed to avoid the proble
33. cting your system 1 Total serial line length This system employs a multi drop connection method The maximum total extension distance of the line varies depending on the data transfer speed and the number of local boards that are connected Max 100 m Transfer speed 20 Mbps with 32 local boards connected Max 50 m Transfer speed 20 Mbps with 64 local boards connected Max 100 m Transfer speed 10 Mbps with connecting 64 local boards connected 2 Minimum cable length The shortest cable must be at least 60 cm long 3 Do not mix cables of different types and model in the same serial line 4 Keep the total serial line length as short as possible 5 If you are using shielded cables do not connect the shield on both ends to the FG terminals Connecting only one end of the shield on each cable will improve noise immunity Multi drop connection CC Se Local boards Center
34. d limit output OEMG Emergency stop output COMA I O common A COMA I O common A DGND Power supply ground for control COMA I O common A COMA I O common A COMA I O common A FG Note 1 The signal directions above refer to the signal flow direction as seen from the board I Output and O Frame ground FG Frame ground Input Note 2 The signals below are general purpose I O signals However they are mainly used in the following applications General purpose output MPOUT1 General purpose output MPOUT2 General purpose input MPIN 14 Servo on output SVON Alarm reset output ALMRES Servo ready complete input SVRDY Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 7 2 CN2 mechanical input output connector Connect mechanical system input output signals Signal Signal direction i Fanetion direction Positive end limit input Negative end limit input Slowdown input Zero position input Positioning start input Counter clear input Simultaneous start input Simultaneous stop input General purpose input 1 General purpose input 2 General purpose input 3 Latch input I O common B Latch input IO common B Emergency stop input Comparator output 1 Emergency stop input Comparator output 2 Comparator output 3 General purpose General purpose output 1 outp2 Note 1 The signal
35. directions above refer to the signal flow direction as seen from the board I Input and O Output Function I O common B O I O common B I O common B I O common B I O common B I O common B l I O common B l I O common B I O common B I O common B I O common B oololoolol ol olo o OOO O O In operation output o 7 3 CN3 4 serial communication connector Connect the Motionnet serial signal The corresponding pins of CN3 and CN4 are internally connected Signal name Function i Function Serial communication data C Serial communication data Note 1 N C refers no connection Note 2 The connector frame is connected to the FG for the power connector 7 4 CN5 power supply connector Connect power for the board Signal name Function Signal name Function 24 VDC power source GND Ground Frame ground 24V 24 VDC power source Ground FG Frame ground 15 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 7 5 Connectors used The model names of the connectors used on this board are shown below Mfg Model name Remarks 3M 3440 6002LCSC or equivalent MIL standard 30 pin box header 3M 3431 6002LCSC or equivalent MIL standard 34 pin box header Res TM11R 3C 88 or equivalent 8 pin
36. e into a triangle pattern small feed function reducing ec We amounts and the motor starts decelerating before ending its triangle driving acceleration COUNTER 1 Command position counter 28 bits Counter COUNTER 2 Mechanical position counter 28 bits COUNTER 3 Deflection counter 16 bits Comparators 28 bits x 3 comparator circuits CW CCW method 2 pulse mode PULSP Direction method common pulse mode Command pulse PULSN 90 phase E Uds ee pulse Me outputs DIRP Output speec Maximum of 6 6 Mpps wit a minimum o 0 1 pps DIRN I F Differential output AM26LS31C or equivalent The positive phase outputs PULSP DIRP can be changed to supply 5V internal power using an internal switch Encoder A phase and B phase input Maximum response frequency 3 5 MHz Encoder signal EDS Ee Encode Z phase input Response time 5 usec inputs EZP EZN I F High speed photocoupler PC410 or equivalent 10Mbps type 3 Can be connected to a differential output or to an open collector output 3 terminals are available as follows Alarm input ALM Positioning complete input INP ALM General purpose input Driver system inputs INP Connect a general purpose input to P6 on the general purpose I O MPIN terminals on the G9003 When the device is connected to a motor driver it is mainly used to as a servo ready complete input SVRDY I F Photocoupler input CLP280 or equivalent 10 Motionnet Local Motion Control Board MNE
37. eed linear acceleration deceleration S curve acceleration deceleration as well as carry out preset positioning operations and zero return operations Asystem combining these two motor types is also possible Although it depends on the number of devices connected and the data transfer speed selected the cable length can be extended up to 100 m using an ordinary CAT5 LAN cable The serial communication uses a receive respond type protocol This protocol adds a CRC number to the communication frame to detect errors thus offering higher reliability You can use it without worrying about the accuracy of the communication This instruction manual describes the specifications and methods for using the MNET M101 DUM We want you to read this manual thoroughly and get full use of the functions offered by this board This instruction manual does not describe the functions of the G9001A and G9003 LSIs for ultra high speed serial communication systems For details about the functions of these LSIs and their registers please read NPM s Motionnet Remotel O A RemoteMotion G9001A G9002 Center device I O device User s Manual and Motionnet G9003 PCL device Users Manual Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 2 Features The functions of this board can be classified as serial communications and motion control 2 1 Serial communications Data transfer speed 20 Mbps maximum Cyclic
38. eeeesseeseseaeenseeeeeees 38 10 2 Communication status display LED ERR ccsseeeeeseeesseeseseeeeeeeeeseesesneeeeneeeeseaeseseaeenseeeeeees 38 10 3 Power Indicator LED NK eceSeeseeeegeec Seeerei eeler 38 10 4 Input display LED PEL MEL SD ORG PCS CLR STA STP IN1 to 3 38 10 5 Power indicator LED 5V ccceeseeseeeeeeeeeeeeeenneeeaeee see eee EEEEEEEEE ENEE ena aeaeeeseseeasaneseaeeeseeseeeennens 38 11 Connection examples 2 iaaieo a eaaa eaa EENS SEENEN EES En 39 11 1 Command pulse outputs PULSP PULSN DIRP DIRN sssececessseeeeeseseeeeesesceeeneeseeenens 39 11 1 1 Connecting to a photocoupler cccceeeeeeeeeeeeee eee eeseeeeneeeeesaeseseeeeneeeeseaesasaaesaseeeseeeeessaeseseeeenenees 39 11 1 2 Connecting to a line receiver ecccseecceeeeeeeseeeseeeseneeeeneeeessaesenneeeeeeeeseaesesaeseseeeeeeeseseaesaseeaeeeiees 40 11 1 3 Connecting to photocouplers that guarantee differential input esses 40 11 1 4 Connecting to TTL chips EE 41 11 2 Encoder input EAP EAN EBP EBN EZP EZN csseceseeeeeeeeeeeeeeeeeeeneeeeeseenseeneneeeeenees 42 11 2 1 Connecting to a line driver cccccesccesseeeeseeeeeeeeesceeeeseeeeneaeeesaesesneeenseeeseassasaaeenseeeeeeeeeseaesenseaeeesees 42 11 2 2 Connection with open COMOCTOM ceecceceeeeeeeeeseee sence eeeeeeeeeseeneeeeeeeeeeeaesesneeenseeeeeeeeese
39. eral purpose output By setting P1M to 1 the output transistor will turn on Active HIGH positive logic 8 5 Driver system output 2 OPEL OMEL OEMG Function These output signals are used to supply mechanical input signals to the motor driver after splitting the original mechanical input signal in two OPEL Branched output signal from a mechanical system positive end limit input OMEL Branched output signal from a mechanical system negative end limit input OEMG Branched output signal from a mechanical system emergency stop input I O interface See the interface circuit for mechanical system input signals 24 Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 8 6 Driver system I O power 5V P05 Function These terminals are used when 5 VDC power is required for an interface circuit between this board and a driver This power is created by a 3 terminal voltage regulator and can be sent to I O positive common COMA and negative common COMA Output circuit The I O positive common terminal COMA and negative common terminal COMA can be fed from the same power that is supplied to the power connector by shorting jumpers JP1 and JP2 Input specifications Input voltage 7V lt Vin s 35V Output specifications Output voltage 5V 5 Maximum output current 100mA CN5 3 terminal regulator 1 4
40. esaseenensnees 42 11 3 Driver system input ALM INP MPIN eeeeeneneeer nnne nnne nnne nennt 43 11 4 Driver system output ERC MPOUT1 MPOUT2 OPEL OMEL OEMOQ 43 11 5 Mechanical system input 1 PEL MEL SD ORG PCS CLR STA STP IN1 to 3 43 11 6 Mechanical system input 2 LTC LTC cccccccssseeeeeeeeeeeeeeseaeenseeeenseeeseaaeseseeeeneeeeseeseseaeenseeeeeees 44 11 7 Mechanical system input 3 EMG EMG esses sienne nnn nnn nnne 44 11 8 Mechanical system output BUSY CMP1 to 3 OUT1 to 2 esee 44 12 Serial communication cable eeeeeeesiee eiie nn nn LLY nennen enter nina sana nant nsn annuae nenne nnmnnn nnna 45 13 Connector and switch layout a eeeeeeeeeeeeeaeeeeneee eee aeee seas sd neeeeneeeesaaesasaaeenseeeeseesessaeseneeeeeeaees 46 14 Setting e TE 48 14 1 Environment setting 1 RENV1 2 0 c s ceeeeeeeeeeeeeeeee LY ee eeneeeeaeee ENEE enna enne nnne nn nnmnnn nnmnnn 48 14 2 Environment setting 2 RENV2 cccce seeeee sees eeeeeeeee ce eeen enna eeeeeeeeseee ease nita nass nnmnnn nnne nsns san nn 48 14 3 Allocation of general purpose input output points and status 48 15 External dimensions teen ee eeneee eee neee seen neee eee neee eee seen eee seen sees nnnm in
41. hanical system input 4 EMG EMQG eese sienne nennen nennen 31 8 11 Mechanical system output BSY CMP1 to 3 OUTI to 2 cessececesseeeeeeseeeeeeseeeeeenseaeeeeensnaes 33 8 12 Serial communication RS485 RS485 eee eres ENNEN eene nnmnnn nnmnnn nnn nnna 35 8 13 NCC Mc MIC 35 GE EE Oe nter du La Go eee aoc Locos uoto Fed eL Med wea xad eee ss esses kai eene ddod 36 9 1 Setting the device number for serial communication SWh1 sseeeeeeessesssss 36 9 2 Setting up serial communications SW2 99247 nnr eiie en nennen nnnm nnn nnnn nn 36 9 2 1 Setting the transfer speed BO B1 eeeesieeeiseeseeeeeees esee nennen nennen nnnm nnn nn nuin 36 9 2 2 Set the output status when a communication error occurs TD sssss 37 9 2 3 Request a break frame BK cccccccesseeeeeeeeeeeeeeneeeeeee eens eee neeeaeeeseeee eae aeeeee sees NEEN n mann sanas sn nnnm 37 SE Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 9 2 4 Setting the termination resistance TR ccccsseccecesseeceeesseeeeenseeeeeeeeeeeeseensnaeseensnaeseenseanenenenaes 37 10 Status display 2s 2 sccsistvascessesetecscecdic YO 38 10 1 Communication status display LED RUN cccsseseseesseeeeseeeeeeeeeseeseseeeeen
42. he motor the motor will operate at FL constant speed When this signal is set to be used as a decelerate and stop signal and this signal goes on while in high speed operation the motor will decelerate to FL speed and then stop ORG This is an input signal used for zero return operations For safety arrange your system so that PEL EL and MEL EL signals remain on from the EL position all the way to the end of the stroke Your can also change the logic of these signals using a switch The logic of the SD and ORG signals can be changed using a program Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 Servomotor interface The following 3 signals can be used with a servomotor 1 INP Input a positioning complete signal output by the servomotor driver 2 ERC Output a deflection counter clear signal to a servomotor driver 3 ALM When this signal is received the motor will stop immediately or will decelerate and stop regardless of current direction of operation The motor cannot restart operation while this signal is on The logic for INP ERC and ALM can be selected using a program The ERC signal is a pulse output and its pulse width can be set from 12 us up to 104 ms A LEVEL output is also available Output pulse specifications The output pulse can be a CW or CCW pulse 2 pulse mode specify a direction common pulse mode or it can be a 90 phase difference pulse 90 phase pulse
43. ing complete output on the servo driver and is used to confirm that the deflection counter for controlling the position is within the specified range and that the positioning of the motor is complete MPIN This is a general purpose input for a driver system This input is connected to the P6 general purpose input output terminal on the G9003 This input is mainly used by connecting it to the servo ready complete output SVRDY from the servo driver and to confirm that the servo driver is ready for operation You may use this input for other purposes Input interface The input interface is photocoupler input TLP280 or equivalent The common positive terminal COMA and common negative terminal COMA input output terminals can be supplied from the same power supplied to the power connector CN5 by shorting jumpers JP1 and JP2 Input specifications Input current 4 5 mA Typ at 24 VDC Response time 55 usec Typ TLP280 or 0 3 W 4 7 Kohm equivalent To G9003 d e ALM INP MPIN 220 Kohm i cn COMA CN5 co 24V GND JP2 i s 21 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 Setting the G9003 environment register environment setting register 1 2 RENV1 2 ALM Set the input logic To see a signal as a 1 while the corresponding photocoupler is on set the ALML environment setting register 1 RENV1 parameter to negative logi
44. l control npm co jp URL http www pulsemotor com Issued in February 2008 H 50 Motionnet
45. ms of triangle drive Simultaneous start function A multiple number of axes on this board can be started simultaneously using an external signal Simultaneous stop function A multiple number of axes on this board can be stopped simultaneously using an external signal Lots of counter circuits The following three counters are available Counter Use purpose Count input COUNTER 28 bit counter for controlling the command position Output pulse 28 bit counter for controlling the machine position Output pulse COUNTERS Can be used as a i des CO EA EB ien 16 bit counter for controlling the difference between Output pulse COUNTER3 the command position and the mechanical position EA EB input Or a 16 bit general purpose counter with a 1 4096 of the reference clock synchronous signal output function Output pulse and EA EB input You can reset all the counters by writing a command to the device or by supplying a CLR signal You can latch the counter data by writing a command to the device or by supplying an LTC signal or an ORG signal COUNTERS has a ring count function that repeats the count for a specified range Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 Comparator The board has three comparator circuits that allow it to compare between preset values and internal counter values COUNTER 1 command position counter COUNTER 2 mechanical positi
46. nal COMA input output terminals can be supplied from the same power supplied to the power connector CN5 by shorting jumpers JP3 and JP4 You can change the outputs that are branched off to the driver system to common negative COMA using switches SW4 OPEL OMEL PEL MEL input specifications Input current 4 5 mA Typ at 24 VDC Response time 55 usec Typ OPEL OMEL output specifications Output dielectric strength 80 V Max Output current Ic 10mA Typ LOW level output voltage Vce 0 4V Max 26 Motionnet Motionnet Local Motion Control Board MNET M101 DUM TLP280 or 0 5 W 4 7 Kohm equivalent To G9003 9 TLP280 or equivalent To G9003 TLP280 or equivalent TLP280 or equivalent OEMG OPEL OMEL ON When setting the switches as shown left 27 Wi 1 YA7085 0 4 CN5 JP3 ege 24V JP4 O Ol GND SW4 OPEL CN1 TO 9 2 20 4 OPEL O SW4 OMEL COMA CN5 JP2 O_O Q GND Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 8 8 Mechanical system input 2 SD ORG PCS CLR STA STP IN1 to 3 Function SD When this signal is input the motor decelerates or decelerates and stops Use this signal for zero returns etc ORG Used to confirm the zero position during a zero return operation You can get even higher precision in repeated zero positioning when used together with the Z phase signal f
47. nal as 1 when the respective photocoupler goes on set the ORGL in environment setting register 1 RENV1 to negative logic 0 PCS Set the input logic To receive this signal as 1 when the respective photocoupler goes on set the PCSL in environment setting register 1 RENV1 to negative logic 0 CLR Select the input method To clear the counters on the falling edge when the respective photocoupler goes on set CLR1 and 0 in environment setting register 1 RENV1 to OO To clear the counters on a LOW level signal when the respective photocoupler goes on set CLR 1 and 0 in environment setting register 1 RENV1 to 10 IN1 to 3 Set up the inputs Set PAM P5M and P7M in environment setting register 2 RENV2 to 0 to work as general purpose inputs When the respective photocoupler goes on these signals will change to 1 active HIGH positive logic 29 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 8 9 Mechanical system input 3 LTC LTC Function These are latched inputs When a signal arrives at one of these inputs the board latches the value in a specified internal counter COUNTER 1 to 3 Input interface The input interface for these signals is a standard photocoupler input PC410 or equivalent Input specifications Input current 4 5 mA Typ When 24 VDC is supplied Response time 5 usec Min CN2 PC410 or equivalent LTC To G9
48. nal outputs CCW direction pulse signals This is a method for outputting both CW and CCW command pulse signals through the Direction PULS terminal The direction is controlled method by a HIGH LOW level signal on the DIR common pulse terminal mode As shown in the figure on the right the motor rotates CW when the DIR signal is LOW and CCW when it is HIGH This is a method for outputting pulse trains with a 90 phase difference Signals are 90 phase output by both the PULS and DIR terminals difference In general when the PULS pulse train is 90 method ahead of the DIR pulse train this is used as 90 phase a CW rotation command pulse mode This method is only available without a multiplier It cannot use 2x and 4x multipliers 90 advance 90 delay CW CCW Output speed Maximum 6 666 Mpps Minimum 0 1 pps The output speed range depends on the selected multiplier Multiplication rates 0 1 0 2 0 5 1 2 5 10 20 50 66 6 Ex Multiplication rate Output speed range 0 1x 0 1 to 10 000 pps 1x 1 to 100 000 pps 50x 50 to 5 000 00C pps Output interface Command outputs from this board are differential outputs AM26LS31C or equivalent PULSP and DIRP are forward phase command pulse outputs PULSN and DIRN are reverse phase outputs 17 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 Output specifications
49. nd no input filter is used PC410 or equivalent To G9003 oct lt p 19 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 G9003 register setting environment register 2 RENV2 EAP EAN EBP EBN A 90 phase difference input shown example is below Phase A Phase B 90 Set bit EIMO to 1 in environment register 2 RENV2 to 00 for reading 90 phase difference signals 1x multiplication and the EDIR bit in environment setting register 2 RENV2 to 0 With these settings the mechanical position counter will count up when it sees the waveform above Applying an input filter An input filter can be attached by setting a register in the G9003 By putting a O in the EINF parameter in environment register 2 RENV2 the board will have an input filter that discards pulses lasting less than 150 nsec approximately EZP EZN Setting the input logic If the board needs to see a signal as 1 when the photocoupler goes on set the EZL environment setting register 2 RENV2 parameter for a rising edge 1 20 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 8 3 Driver system inputs ALM INP MPIN Function ALM This is connected to the alarm signal output on the motor driver If the driver issues an alarm this signal is used to stop or decelerate and stop the motor immediately INP This is connected to the position
50. nications and motion control 5 1 Serial communications Specifications Cyclic communication cycles Maximum of 0 12 msec when using 8 devices 1 Maximum of 0 24 msec when using 16 devices 1 Maximum of 0 49 msec when using 32 devices 1 Maximum of 0 97 msec when using 64 devices 2 Data transfer speed 20 Mbps when using our recommended cable 1 100m 2 50m Total serial communication line length Maximum of 100 m At a data transfer speed of 20 Mbps with 32 devices connected Maximum of 50 m At a data transfer speed of 20 Mbps with 64 devices connected Maximum of 100 m At a data transfer speed of 10 Mbps with 64 devices connected Using our recommended cables Serial communication interface Pulse transformer and RS 485 specification line transceiver Serial communication protocol Our proprietary protocol Serial communication sign NRZ signed Serial communication method Half duplex communication Connection method Multi drop connection using a LAN cable or custom made cable Serial communication device number Assignable device numbers 0 to 63 Set using switches Serial communication transfer speed 20 Mbps 10 Mbps 5 Mbps 2 5 Mbps Set using switches Set the output status when a communication error occurs Maintains the current conditions or immediately stops outputting pulses and resets general purpose outputs Set using switches Set the
51. on counter or COUNTER 3 genera purpose deflection counter can be assigned as the counter used for comparisons Comparators 1 and 2 can also be used as software limit devices SL SL Software limit function You can set software limits using two comparator circuits When the feed position enters the area within the software limits the motor will stop immediately or decelerate and stop Then the motor can only be rotated in the opposite direction Backlash correction A backlash correction function is available Using the backlash correction the board will correct the feed amount each time the feed direction changes Synchronous signal output function With this function the board can output a pulse signal at specified intervals Vibration damping function A pre assigned control constant plus one reverse pulse and one forward pulse just before stopping This decreases motor vibration when stopping Stepper motor out of step detection function The board has a deflection counter that works with command pulses and encoder signals EA EB Using a comparator the deflection counter can be used to detect an out of step motor and to check positioning operations Idling pulse output function The number of pulses needed for the self start frequency FL can be preset for high speed operation This function is effective in preventing an out of step condition when a ste
52. output conditions when the watch dog timer controlling the communication status times out Request a break frame Send a break frame Set using switches Termination resistance Set a termination resistance on the terminals at the ends of the serial line Set using switches Display of serial communication status RUN While receiving serial communications normally the green LED is lit ERR When a serial communication error occurs continuously the red LED is lit G9003 reference clock 80 MHz Motionnet Local Motion Control Board MNET M101 DUM 5 2 Motion control YA7085 0 4 Item signal Specifications name ee conte 134 217 728 to 134 217 727 28 bits Slowdown point 0 to 16 777 215 24 bits range Number of speed 3 types FL FH and FA correct speed for each axis setting registers Speed step range 1 to 100 000 17 bits Acceleration Acceleration and deceleration can be set independently for linear deceleration acceleration deceleration and also for S curve characteristics acceleration deceleration Acceleration rate 1 to 65 535 16 bits range Deceleration rate 1 to 65 535 16 bits range Automatic setting of Automatically set within the range of deceleration time the slowdown point acceleration time x 2 Avoids triangle driving by automatically lowering the operation speed FH correction when the drive curve may chang
53. pper motor s initial speed is set higher using acceleration deceleration control Operation mode Basic operations include continuous operation positioning operations and zero return operations By setting the operation mode bits for optional motions you can create various operation patterns lt Examples of the operation modes gt 1 Start and stop operations using commands Zero return operation Positioning operation using commands BON Hardware start of a positioning operation using a STA input Feed a specified amount after the PCS input goes on Delay control O Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 Various zero return sequences Feed at a constant speed and stop on receiving an ORG signal Feed at a constant speed After the ORG signal goes on count up the preset number of EZ signals and then stop Feed at a constant speed reverse direction on receiving an ORG signal and stop after counting up the preset number of EZ signals Feed at a constant speed and stop on receiving an EL signal Normal stop Feed at a constant speed reverse on receiving an EL signal and stop after counting up the preset number of EZ signals Feed at high speed decelerate on receiving an SD signal and stop on receiving an ORG signal Feed at high speed decelerate on receiving an ORG signal and stop on receiving an EZ signal Feed at high speed decelerate and stop on receiving an OR
54. ral purpose inputs are not affected by this setting The watchdog timer time depends on the current transfer speed Watchdog timer time At 20 Mbps At 10 Mbps At 5 Mbps At 2 5 Mbps 20 ms 40 ms 80 ms 160 ms 9 2 3 Request a break frame BK This is used to add to the number of local boards or to restore a specific local board that has previously been excluded from cyclic communication due to a communication error The center board on which the G9001 is mounted sends regular break frame sending request data approximately every 250ms at 20 Mbps to local devices A local device that has sent a break frame request will respond this communication from the center device When the center board confirms the response the corresponding status bit BRKF will be changed to 1 and an interrupt will occur With this sequence the center board realizes that a local board has been added to the communication line BK SW2 5 Break frame OFF ON Break frame request 9 2 4 Setting the termination resistance TR Specify termination resistance of the serial communication line Turn the bit on to apply a termination resistance TR SW2 6 Termination resistance OFF ON Use the built in terminating resistor 37 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 10 Status display 10 1 Communication status display LED RUN This LED displays an MSEL signal o
55. rom the encoder PCS This signal can be used for the target position override start timing CLR This signal input can be used to reset the internal counter STA Multiple copies of this board can start their motors simultaneously with an external signal on his terminal STP Multiple copies of this board can be stopped simultaneously with an external signal on his terminal IN1 to 3 These are general purpose inputs connected to P4 P5 and P7 of the general purpose I O terminals on the G9003 Input interface Input interface for these signals is a standard photocoupler input TLP280 or equivalent The common positive terminal COMA and common negative terminal COMA input output terminals can be supplied from the same power supplied to the power connector CN5 by shorting jumpers JP3 and JP4 Input specification Input current 4 5 mA Typ When 24 VDC is supplied Response time 55 usec Typ CN2 TLP280 or 0 5 W 4 7 Kohm equivalent To G9003 5 7 9 11 SD ORG PCS 13 15 17 19 21 4 CLR STA STP IN1 to 3 220 Kohm 28 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 G9003 register setting environment register 1 RENV1 SD Set the input logic To receive this signal as 1 when the respective photocoupler goes on set the SDL in environment setting register 1 RENV1 to negative logic 0 ORG Set the input logic To receive this sig
56. upler input TLP280 or equivalent Mechanical output 6 terminals are available as follows Output during operation BSY Comparator output 1 CMP1 Comparator output 2 CMP2 Comparator output 3 CMP3 General purpose outputs 1 2 OUT1 2 Connect the general purpose outputs 1 and 2 to the general purpose I O P2 and P3 terminals on the G9003 I F Open collector output Darlington transistor sink type Input output status display STP IN1 IN2 IN3 When a mechanical photocoupler corresponding to the signals below is on the respective LED lights in green Positive end limit input PEL Negative end limit input MEL Slow down input SD Zero point input ORG Positioning start input PCS Counter clear input CLR Simultaneous start input STA Simultaneous stop input STP General purpose inputs 1 to 3 IN1 to 3 Setting the end limit input logic 11 SW2 EL PEL MEL input logic setting switch Select between positive and negative logic using a switch Motionnet Local Motion Control Board MNET M101 DUM Signal name Specifications Power for the driver system I O terminals 5 VDC power for the driver system input output terminals The power is generated by the 3 terminal regulator from COMA COMA 5V 5 maximum output current 100 mA Driver system I O power indicator 5V Indicates that 5 V power is being
57. utput when the G9003 local boards are receiving serial communication data normally When a large number of local boards are connected on one serial communication line the LED may become dim This LED is green 10 2 Communication status display LED ERR This LED displays an MRER signal output by the G9003 when an error occurs in the serial signal data such as a CRC error This LED is red 10 3 Power indicator LED 3 3V This LED indicates the presence of 3 3 VDC internal control power It is yellow 10 4 Input display LED PEL MEL SD ORG PCS CLR STA STP IN1 to 3 These LEDs are lit when the respective input signal photocoupler goes on They are green 10 5 Power indicator LED 5V This LED indicates the presence of 5 VDC power for the driver system I O It is yellow 38 Motionnet Motionnet Local Motion Control Board MNET M101 DUM 11 Connection examples 11 1 Command pulse outputs PULSP PULSN DIRP DIRN YA7085 0 4 In general there are 4 types of connections to motor drivers depending on the interface specifications 1 Photocouplers 2 Line receivers 3 Photocouplers that guarantee differential input 4 TTL signals Before making connections refer to the following guidelines even though the details will vary with the driver specifications and wiring cable size Connection type Cable length Command pulse frequency Noise immunity 2 and 3 10 m max Up to the
58. vered all the switches were set to 0 The example on the left shows a device number of 13d decimal or Dh hexadecimal 9 2 Setting up serial communications SW2 Use switch SW2 to set the Motionnet serial communication parameters When delivered all the switches were set to 0 off 9 2 1 Setting the transfer speed BO B1 Specify a data transfer speed using switches BO and B1 Select from the following 4 speeds B1 SW2 1 Data transfer speed OFF 20 Mbps OFF 10 Mbps ON 5 Mbps ON 2 5 Mbps 36 Motionnet Motionnet Local Motion Control Board MNET M101 DUM YA7085 0 4 9 2 2 Set the output status when a communication error occurs TD The G9003 controls the communication timing from a center board that is equipped with a G9001 center device and it uses a watchdog timer When the response time exceeds the specified time the watchdog timer times out One possible cause of this time out may be a fault of the serial communication line or it could be that the center device stopped communication This setting selects the output status to use when the timer times out Select one of the choices below by setting TD TD SW2 3 Output status OFF Maintain the current output status ON Switch off the output transistor reset status When the timer times out the output becomes a general purpose output for data received through cyclic communication The main status and gene

MNET-M101-DUM User`s Manual

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